/*
 * costmap_2d_custom_node.cpp
 *
 *  Created on: 21/03/2012
 *      Author: alberto
 */

#include <ros/ros.h>
#include <costmap_2d_custom/costmap_2d_custom_ros.h>
namespace costmap_2d_custom {
  class Costmap2DCustomNode {
    public:
      Costmap2DCustomNode(tf::TransformListener& tf) : costmap_ros_("costmap", tf){}
      void obstacleImageCallback(const sensor_msgs::ImageConstPtr& msg);
    private:
      Costmap2DCustomROS costmap_ros_;
  };

};

int main(int argc, char** argv){

  ros::init(argc, argv, "costmap_custom_node");
  tf::TransformListener tf(ros::Duration(10));

  costmap_2d_custom::Costmap2DCustomNode* costmap_node;
  costmap_node = new costmap_2d_custom::Costmap2DCustomNode(tf);


  ros::spin();

  delete costmap_node;

  return(0);
}
